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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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190 lines
4.7 KiB
C
190 lines
4.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file navigator_params.c
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*
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* Parameters for navigator in general
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*
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* @author Julian Oes <julian@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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*/
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/**
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* Loiter radius (FW only)
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*
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* Default value of loiter radius in FW mode (e.g. for Loiter mode).
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*
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* @unit m
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* @min 25
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* @max 1000
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 80.0f);
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/**
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* Acceptance Radius
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*
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* Default acceptance radius, overridden by acceptance radius of waypoint if set.
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* For fixed wing the npfg switch distance is used for horizontal acceptance.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
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/**
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* FW Altitude Acceptance Radius
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*
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* Acceptance radius for fixedwing altitude.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_FW_ALT_RAD, 10.0f);
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/**
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* FW Altitude Acceptance Radius before a landing
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*
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* Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
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* than the standard vertical acceptance because close to the ground higher accuracy is required.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_FW_ALTL_RAD, 5.0f);
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/**
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* MC Altitude Acceptance Radius
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*
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* Acceptance radius for multicopter altitude.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 0.8f);
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/**
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* Set traffic avoidance mode
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*
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* Enabling this will allow the system to respond
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* to transponder data from e.g. ADSB transponders
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*
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* @value 0 Disabled
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* @value 1 Warn only
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* @value 2 Return mode
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* @value 3 Land mode
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* @value 4 Position Hold mode
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*
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_TRAFF_AVOID, 1);
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/**
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* Set NAV TRAFFIC AVOID horizontal distance
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*
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* Defines a crosstrack horizontal distance
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*
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* @unit m
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* @min 500
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*
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_TRAFF_A_HOR, 500);
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/**
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* Set NAV TRAFFIC AVOID vertical distance
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*
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*
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* @unit m
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* @min 10
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* @max 500
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*
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_TRAFF_A_VER, 500);
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/**
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* Estimated time until collision
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*
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* Minimum acceptable time until collsion.
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* Assumes constant speed over 3d distance.
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*
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* @unit s
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* @min 1
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* @max 900000000
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_TRAFF_COLL_T, 60);
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/**
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* Force VTOL mode takeoff and land
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*
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* @boolean
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_FORCE_VT, 1);
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/**
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* Minimum Loiter altitude
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*
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* This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this
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* mode without specifying an altitude (e.g. through Loiter switch on RC).
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* Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to").
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* Set to a negative value to disable.
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*
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* @unit m
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* @min -1
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_MIN_LTR_ALT, -1.f);
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